Cristi Stoican / Mbed 2 deprecated Migration

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Dependencies:   BLE_API mbed nRF51822

PIDController.hpp@0:b5906c81772b, 2017-02-05 (annotated)

Committer:
stoicancristi
Date:
Sun Feb 05 16:31:58 2017 +0000
Revision:
0:b5906c81772b
BLE

Who changed what in which revision?

UserRevisionLine numberNew contents of line
stoicancristi 0:b5906c81772b 1 #ifndef PIDCONTROLLER_H
stoicancristi 0:b5906c81772b 2 #define PIDCONTROLLER_H
stoicancristi 0:b5906c81772b 3
stoicancristi 0:b5906c81772b 4 #include "Controller.hpp"
stoicancristi 0:b5906c81772b 5 #include "ControllerParams.hpp"
stoicancristi 0:b5906c81772b 6
stoicancristi 0:b5906c81772b 7 #define TE 0.1
stoicancristi 0:b5906c81772b 8 #define dif(a,b) (a-b)
stoicancristi 0:b5906c81772b 9
stoicancristi 0:b5906c81772b 10 class PIDController : public Controller {
stoicancristi 0:b5906c81772b 11
stoicancristi 0:b5906c81772b 12 private:
stoicancristi 0:b5906c81772b 13 float kp;
stoicancristi 0:b5906c81772b 14 float ti;
stoicancristi 0:b5906c81772b 15 float td;
stoicancristi 0:b5906c81772b 16
stoicancristi 0:b5906c81772b 17 public:
stoicancristi 0:b5906c81772b 18
stoicancristi 0:b5906c81772b 19 virtual void updateParams(ControllerParams&);
stoicancristi 0:b5906c81772b 20 virtual float calculateCmd(void) const;
stoicancristi 0:b5906c81772b 21 virtual ~PIDController();
stoicancristi 0:b5906c81772b 22
stoicancristi 0:b5906c81772b 23 void setKp(float);
stoicancristi 0:b5906c81772b 24 float getKp() const;
stoicancristi 0:b5906c81772b 25
stoicancristi 0:b5906c81772b 26 void setTi(float);
stoicancristi 0:b5906c81772b 27 float getTi() const;
stoicancristi 0:b5906c81772b 28
stoicancristi 0:b5906c81772b 29 void setTd(float);
stoicancristi 0:b5906c81772b 30 float getTd() const;
stoicancristi 0:b5906c81772b 31 };
stoicancristi 0:b5906c81772b 32
stoicancristi 0:b5906c81772b 33 #endif